CN1841086A - Positioning system and method for reducing ultrasonic signal conflict - Google Patents
Positioning system and method for reducing ultrasonic signal conflict Download PDFInfo
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- CN1841086A CN1841086A CNA2005100625456A CN200510062545A CN1841086A CN 1841086 A CN1841086 A CN 1841086A CN A2005100625456 A CNA2005100625456 A CN A2005100625456A CN 200510062545 A CN200510062545 A CN 200510062545A CN 1841086 A CN1841086 A CN 1841086A
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Abstract
The disclosed positioning system comprises: multiple positioning nodes to send position information, ultrasonic signal and wireless signal to the following node, at least one receiving node to determine self position according to former signal, a CPU with a wireless communication device, an area division device to divide positioning nodes into some zones, and an ordering device to order nodes in one zone according to position relation.
Description
Technical field
The present invention relates to the indoor positioning technology, be specifically related to a kind of positioning system and in this positioning system, reduce the method that ultrasonic signal conflicts based on the location node positional information.
Background technology
Existing positioning system comprises GPS, and mobile network location or the like is widely used, but above technology can't be used indoor.Development along with technology, the indoor positioning technology is subjected to paying attention to widely, and existing indoor orientation method comprises media such as utilizing radio, ultrasound wave, infrared, ultra broadband, adopts TOA (Time of Arrival), TDOA (Time Difference of Arrival), AOA (Angle of Arrival), RSSI (Received Signal Strength Indictor) and RSSI methods such as (Received Signal Strength Indictor) to realize positioning service.
Discussion of the present invention mainly be the master-slave mode positioning system.The status of node is not complete equality in this fixer network system, and node is divided into two classes: location node (beacon) and mobile node.Location node is arranged in advance, and positional information of continual this node of transmission and locating information (as ultrasound wave etc.), and mobile node is handled by accepting these information, just can determine the position of oneself.
But,, just be easy to cause the conflict each other of locating information if each location node is launched locating information simultaneously.How to address this problem is a key factor that improves the positioning system performance.
The method that solves comprises the method that employing inserts with machine testing at present, perhaps all node independent transmission, (list of references 1:Nissanka B.Priyantha is handled in identification by receiving terminal, AnitChakraborty, Hari Balakrishnan, The Cricket Location-Support system, Proc.6th ACM MOBICOM, Boston, MA, August 2000), perhaps ultrasonic pulse is carried out the method for carrier wave (referring to document 2:MicroPatent Report US 6317386B1 METHOD OFINCREASING THE CAPACITY AND ADDRESSING RATE OF ANLTRASONIC LOCATION SYSTEM, AT﹠amp; T).
What Figure 10 (a) showed at random that emission occurs can't estimate of situation, if location node is launched locating information simultaneously, just is easy to cause the conflict each other of locating information, thereby receiving terminal can't correctly be judged.To this, the time of the method for list of references 1 hypothesis emission and bigger at interval, the situation that generation can't be differentiated is uncommon, thereby can accept the completely random emission, does not consider the problem of coordinating between node.But in fact because the possibility that overlaps is bigger, the wrong cognition that causes thus is the major reason that causes this method error rate to rise.Though having set forth in list of references 1 and how which having been distinguished with the method for statistical study is correct (radiofrequency signal, ultrasonic signal) right, signal how to remove obvious mistake is right, but because some signal is to distinguishing on principle, so will inevitably cause the erroneous calculations of distance, problem is more serious when location node is intensive relatively.
It is correct arriving signal that list of references 2 utilizes the ultrasonic carrier signal which is differentiated, but can increase hardware cost and complexity like this, and it is bigger to be subjected to the influence of indoor multipath effect.Though the method that employing detects the channel random collision is the processing signals collision problem preferably, detection efficiency is not high at random completely.
And above method does not consider that all the position of location node is definite and known, and this is utilizable information, can be used for effectively avoiding signals from collision, error-detecting and the systematically optimization of emission parameter.
These methods may cause the uncertain of location response time when handling, and bring systematic error etc., and the positional information that does not make full use of location node is for determining and known characteristics.
Summary of the invention
The master-slave mode positioning system that is based on TDOA that the present invention is directed to.Location node emitting radio frequency signal and the lower signal (as sound wave, ultrasound wave etc.) of another speed, the time difference that recipient node arrives by measuring them decides the distance of location node and recipient node, and then determines their position.But, in the TDOA method, if location node is launched locating information simultaneously, just be easy to cause the conflict each other of locating information, thereby receiving terminal can't correctly be judged.
The characteristics that the position that the method that the present invention proposes makes full use of location node has been determined and can have been obtained by central controller be utilized these information to reduce even eliminate information collision, improve the bearing accuracy of system, and improve the energy-saving effect of system.
In one aspect of the invention, proposed a kind of positioning system, having comprised: a plurality of location nodes are used to send its positional information, ultrasonic signal and radio signal; At least one recipient node; Central controller, this central controller comprises: radio communications set is used for carrying out wireless communication with each location node; The area dividing device, its positional information according to each location node that receives by radio communications set is divided into a plurality of zones with location node; Collator, it sorts according to the position relation to each location node that belongs to the same area; Wherein location node sends its positional information, ultrasonic signal and radio signal according to the order that collator is ranked to described recipient node; Positional information, ultrasonic signal and the radio signal that recipient node sends according to described location node determined the position of oneself.
In another aspect of this invention, a kind of method that reduces the ultrasonic signal conflict in positioning system has been proposed, described positioning system comprises a plurality of location nodes, at least one recipient node and central controller, and described method comprises step: location node sends its positional information to central controller; Central controller is divided into a plurality of zones according to the positional information of each location node with location node; Central controller sorts according to the position relation to each location node that belongs to the same area; Location node sends its positional information, ultrasonic signal and radio signal according to the order that is ranked to described recipient node; Positional information, ultrasonic signal and the radio signal that recipient node sends according to described location node determined the position of oneself.
Adopt the above-mentioned system and method for the present invention, can reduce the conflict of locating information to greatest extent, and come the setting of optimized for emission parameter, improve locating effect and reduce node energy consumption according to positional information.
Description of drawings
Fig. 1 shows the structured flowchart of the node that uses in system of the present invention;
Fig. 2 shows the synoptic diagram of ultrasonic ranging of the present invention;
Fig. 3 shows the structured flowchart of master-slave mode positioning system of the present invention;
Fig. 4 shows the structured flowchart of the central controller in the master-slave mode positioning system of the present invention;
Fig. 5 is the synoptic diagram of area dividing, wherein node division is become three zones of A, B and C;
Fig. 6 is to being divided in the synoptic diagram of the location node ordering in the same area;
Fig. 7 shows the process flow diagram that reduces the method for ultrasonic signal conflict in positioning system of the present invention;
Fig. 8 shows the process flow diagram that parameter is set of the present invention;
Fig. 9 is the synoptic diagram that different parameters is set in the zone of different densities;
What Figure 10 (a) showed at random that emission occurs can't estimate of situation; And
Figure 10 (b) shows the situation that order sends among the present invention.
Concrete embodiment
Below the contrast accompanying drawing is described in detail method of the present invention in the mode of specific embodiment.In the master-slave mode positioning system based on TDOA, the hardware platform that uses among the present invention is the node with ultrasonic communication function and radio communication function, and Fig. 1 shows the structured flowchart of this node.
As shown in Figure 1, node comprises: the controller module 11 that is used to store memory of data module 10, be connected with memory module, with outside ultrasonic communication module 13 of carrying out ultrasonic communication, with the outside carry out wireless communication radio communication module 14, be used for that the analog signal conversion from ultrasonic communication module 13 and radio communication module 14 become digital signal and send to the A/D modular converter 12 of controller module 11.
For realizing the location of sensor network nodes, at first to obtain giving in this network the positional information of node.And to determine position to node, according to three angle positioning methods, need know that the stationary nodes of 3 known location and unknown node are with the distance between the stationary nodes.The design's centre point is accurately measured distance between unknown node and the stationary nodes for method how to use wireless signal.
Fig. 2 shows the synoptic diagram of ultrasonic ranging of the present invention.In ultrasound wave TDOA range finding, suppose that sending node is ultrasound wave and wireless signal transmission end, and recipient node is a receiving end, then ranging process is as follows:
A) sending node while transmitting radio synchronizing signal and ultrasonic ranging signal;
B) recipient node receives wireless signal and picks up counting, and writes down initial time T
s
C) recipient node receives the ultrasonic ranging signal, writes down and accepts time T
e, calculate the ultrasonic transmission time T then
D=T
e-T
s
D) calculate the distance D of trying to achieve between sending node and the recipient node, wherein V by following formula
SoundBe hyperacoustic speed:
D＝T
D×V
sound (1)
In other words, the signal that location node emitting radio frequency signal and another speed are lower (as ultrasound wave etc.), the time difference that recipient node arrives by measuring their decides the distance of location and recipient node.
In the positioning system of master-slave mode of the present invention, sending node sends positional information, radio synchronizing information and the ultrasound information of this node, recipient node calculates the distance of sending node by TDOA, as long as calculate three or above distance, just can determine the position of oneself, used as navigation or orientation management.
Fig. 3 shows the structured flowchart of master-slave mode positioning system of the present invention.In the present invention, by adopting existing technology, determine the position of location node itself, and send central controller to.Central controller is optimized the performance of network with these positional informations, to help to improve the locating effect of network.
As shown in Figure 4, in the positioning system of the present invention, central controller comprises: radio communication unit 41 is used for carrying out wireless communication with each location node; Area dividing unit 42, its position signalling according to each location node that receives by radio communication unit 41 is divided into a plurality of zones with location node; Sequencing unit 43, it sorts according to the position relation to each location node that belongs to the same area.
After area dividing, area dividing unit 42 is to the location node sending zone identification information that is divided into the same area, for example, location node in the a-quadrant in Fig. 5 sends identification information 1, location node in the B zone sends identification information 2, and the location node in the C zone sends identification information 3.
In sequencing unit 43, according to the relation ordering of the position between each location node in the zone, and the order that will be ranked sends to the node in the zone.For example, in Fig. 6, the location node in regional A sends sequence number 11,12,13,14 and 15 successively, and the location node in the B zone sends sequence number 21,22,23,24,25 and 26 successively.
Then, in position fixing process, the location node in the a-quadrant sends position signalling according to said sequence to recipient node, and after receiving the positional information of at least three location nodes, recipient node calculates the position of oneself.
Notice, in order to reach effective locating effect, the frequency that sends locating information does not need very high, if what adopt is the method for localization by ultrasonic, is under the situation of (800-1000 millisecond+random interval) by evidence at average each node Transmission Time Interval, still can reach better positioning effect, therefore can reduce the conflict of locating information by the mode of orderly emission.But, send in fact also infeasible in order at whole network because the scale of network is uncertain.The uncertainty that can cause the location response time like this.
But a large-scale network based positional information can be divided into some less zones, and area dividing is to implement the important foundation of next step algorithm effectively and correctly.
The principle of the area dividing of the present invention suggestion is to close on gathering, and advises that 10～20 location nodes are one group, between two location nodes apart from 2-5 rice.Because ultrasonic effective travel-time approximately is the 25-30 millisecond under the locating information emissive power, that is to say according to existing transmission frequency, node maximum size in zonule can reach 30, they adopt and send information mode in order, substantially can satisfy common requirement, and the overlapping of locating information can not taken place basically.Usually 10-20 of suggestion is that a zone is proper.
After big area dividing is become the zonule, because interstitial content is smaller, form a kind of orderly locating information transmit mechanism easily in each zonule, thereby effectively reduce the generation of locating information conflict.
Concrete, adopt the example of the method for similar transmission repeating query as orderly transmission:
| This node location information | The address information of next location node | Interval time (usually greater than 30 milliseconds) |
The radio-frequency information that node N sends comprises the address information of this node location information, next location node, and interval time, and it is usually more than or equal to 30 milliseconds.Launch the ultrasonic locating signal then.
Next node starts timer after receiving the signal of last node transmission, after reaching interval time, launches corresponding radio and ultrasonic locating information.
Figure 10 (b) shows the synoptic diagram of location-based orderly transmission of the present invention.Compare with Figure 10 (a), the present invention has avoided the conflict of ultrasonic signal by sending positional information according to predetermined order, has improved distance measuring precision, and has reduced the energy consumption of location node.
Fig. 7 shows the process flow diagram that reduces the method for ultrasonic signal conflict in positioning system of the present invention.
S701: each location node is to central controller transmission positional information separately;
S702: the positional information that the radio communication unit 41 in the central controller is accepted from location node;
S703: area dividing unit 42 is divided into a plurality of zones according to the positional information of each location node with location node, and sends to location node in this zone by radio communication unit 41 identifier that each is regional;
S704: sequencing unit 43 sorts to it according to the position between the location node that belongs to the same area relation, and ranking results is sent to location node in this zone;
S705: the location node in the same area sends its position signalling to recipient node successively according to described order.
In this way, can reduce node greatly and send the probability that locating information makes a mistake, thereby improve the performance of system.
Considering in fixer network and the sensor network, is not artificial the layout in the time of being distributed with of location node, even manually arrange that because environmental relation, the laying situation of location node everywhere also can not be identical.After the information that obtains location node,, adopt different transmission parameters at diverse location or nodes of different areas, thereby optimize network to greatest extent according to the distribution situation of network node.
Concrete, according to the position distribution density of network, determine the emission parameter of zones of different node among the present invention. behind the zoning, the node density difference that each is regional.Therefore, can increase a parameter set unit (not shown) in central controller, it is provided with the transmission frequency and the emission duration of location node according to each regional density size that area dividing unit 42 is divided.
If adopt identical transmission frequency: in the too intensive zone of node: be a kind of waste of energy, may cause various hyperacoustic mixing on the contrary, reduce the precision and the accuracy of system; And in the sparse relatively zone of node: recipient node may can not get enough localization messages in the regular hour, thereby must wait for that abundant information arrives, thereby reduces the reaction time of system, and improves the error rate of system.So taking same transmission frequency in different zones is inappropriate.
Fig. 8 shows the process flow diagram that parameter is set of the present invention.
S801: the location of taking into account system postpones to require and the energy consumption requirement simultaneously, determine the reference value of a node density and emission duration, promptly, if it is little that system requirements postpones, then the reference value of emission duration is defined as lessly, for example 15ms is little if the energy consumption of system requires, then the reference value of the node density in the zone is defined as bigger, for example 0.5 node/square metre.
S802: according between each location node apart from cut zone, the density value of zoning;
S803: the reference value of the density value in the zone of Ji Suaning and node density relatively, revise emission duration.As shown in Figure 9, in the intensive relatively area B of location node, the locating information transmission frequency can be relatively low; At the sparse regional A of node, then improve the locating information transmission frequency.
Like this, according to the energy and the accuracy requirement of system, determine optimum transmission density.In the intensive relatively zone of node, the locating information transmission frequency can be relatively low; Otherwise then in the sparse place of node.Thereby reduced the frequency of conflict, and can improve energy-saving effect to greatest extent.
The above; only be the embodiment among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; the conversion that can expect easily or replacement all should be encompassed in of the present invention comprising within the scope.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claims.
Claims (20)
1, a kind of positioning system comprises:
A plurality of location nodes are used to send its positional information, ultrasonic signal and radio signal;
At least one recipient node;
Central controller, this central controller comprises:
Radio communications set is used for carrying out wireless communication with each location node;
The area dividing device, its positional information according to each location node that receives by radio communications set is divided into a plurality of zones with location node;
Collator, it sorts according to the position relation to each location node that belongs to the same area;
Wherein location node sends its positional information, ultrasonic signal and radio signal according to the order that collator is ranked to described recipient node;
Positional information, ultrasonic signal and the radio signal that recipient node sends according to described location node determined the position of oneself.
2, positioning system as claimed in claim 1 is characterized in that, described central controller also comprises parameter setting apparatus, and it is provided with locating information transmission frequency and emission duration according to each regional density size that the area dividing device is divided.
3, positioning system as claimed in claim 1 is characterized in that, each regional identification information that described area dividing device will be divided by described radio communications set sends to location node.
4, positioning system as claimed in claim 1 is characterized in that, described collator by described radio communications set to the location node sending order information that belongs to the same area.
5, as the described positioning system of one of claim 1-4, it is characterized in that, comprise 10～20 location nodes in the zone of each described division.
6, as the described positioning system of one of claim 1-4, it is characterized in that, in the same area between two location nodes distance be 2-5 rice.
7, positioning system as claimed in claim 1 is characterized in that:
Recipient node calculates from accepting radio synchronization signal to the ultrasonic transmission time that receives the ultrasonic signal;
Recipient node calculates distance between itself and the location node by being multiply by ultrasonic velocity the ultrasonic transmission time;
Recipient node according to the position of at least three location nodes and and the distance between it, determine oneself position with three angle positioning methods.
8, positioning system as claimed in claim 2, it is characterized in that in the big zone of location node density, described parameter setting apparatus is provided with lowlyer to the locating information transmission frequency, in the little zone of location node density, be provided with the locating information transmission frequency higherly.
9, positioning system as claimed in claim 2 is characterized in that, in the big zone of location node density, described parameter setting apparatus is provided with emission duration greatlyyer, in the little zone of location node density, is provided with the location emission duration lessly.
10, positioning system as claimed in claim 8 or 9 is characterized in that described interval time is more than or equal to 30 milliseconds.
11, a kind of method that in positioning system, reduces the ultrasonic signal conflict, described positioning system comprises a plurality of location nodes, at least one recipient node and central controller, described method comprises step:
Location node sends its positional information to central controller;
Central controller is divided into a plurality of zones according to the positional information of each location node with location node;
Central controller sorts according to the position relation to each location node that belongs to the same area;
Location node sends its positional information, ultrasonic signal and radio signal according to the order that is ranked to described recipient node;
Positional information, ultrasonic signal and the radio signal that recipient node sends according to described location node determined the position of oneself.
12, method as claimed in claim 11 is characterized in that, also comprises step:
Central controller is provided with locating information transmission frequency and emission duration according to each regional density size of dividing.
13, method as claimed in claim 11 is characterized in that, also comprises step:
Each regional identification information of dividing is sent to location node.
14, positioning system as claimed in claim 11 is characterized in that, also comprises step:
To the location node sending order information that belongs to the same area.
15, as the described method of one of claim 11-14, it is characterized in that, comprise 10～20 location nodes in the zone of each described division.
16, as the described method of one of claim 11-14, it is characterized in that, in the same area between two location nodes distance be 2-5 rice.
17, method as claimed in claim 11 is characterized in that:
Recipient node calculates from accepting radio synchronization signal to the ultrasonic transmission time that receives the ultrasonic signal;
Recipient node calculates distance between itself and the location node by being multiply by ultrasonic velocity the ultrasonic transmission time;
Recipient node according to the position of at least three location nodes and and the distance between it, determine oneself position with three angle positioning methods.
18, method as claimed in claim 12 is characterized in that, in the big zone of location node density, is provided with the locating information transmission frequency lowlyer, in the little zone of location node density, is provided with the locating information transmission frequency higherly.
19, method as claimed in claim 12 is characterized in that, in the big zone of location node density, is provided with emission duration greatlyyer, in the little zone of location node density, is provided with the location emission duration lessly.
20, as claim 18 or 19 described methods, it is characterized in that described interval time is more than or equal to 30 milliseconds.
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| CN109218964A (en) * | 2018-09-17 | 2019-01-15 | 昂科信息技术（上海）股份有限公司 | Adjacent signals source anti-interference method, system and signal framing system, medium |
| US11924924B2 (en) | 2018-09-17 | 2024-03-05 | Rosemount Inc. | Location awareness system |
| CN109738526A (en) * | 2019-01-23 | 2019-05-10 | 电子科技大学 | One kind is for the weak stress area positioning of metal shell lower layer and size discrimination method |
| CN109738526B (en) * | 2019-01-23 | 2021-03-30 | 电子科技大学 | Method for positioning and size determination of weak stress area of lower layer of metal shell |
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